“It was of course a little emotional to drop Sasha off at college,” Michelle admitted. “It’s an adjustment to see each other for a weekend here, a holiday break there, but the moments we do spend together feel extra special because of it.”

Michelle says she and husband Barack were hands-on throughout the process, hoping to make Sasha’s experience feel “as normal as possible, given [their] family’s circumstances.” After all, it’s not exactly typical to grow up in the public eye like Sasha and 21-year-old Malia did — but their mom and dad are determined not to let the spotlight interfere with their daughter’s lives.

“We were there, just like most parents, helping her unpack and make her dorm room feel like home,” she described. “But by and large, we let her take care of herself. As a parent, one of the most important things we can give our children is the freedom to find their own way in the world.”

While Michelle may sometimes wish she could turn back time (“time just goes so fast,” she lamented to the magazine), she’s excited for Sasha and Malia’s futures, and for them to grow into all they can be.

“Barack and I try to make sure that our daughters know that there’s no limit to what they can be or what they can achieve,” the Becoming author explains. “They don’t learn that if their parents treat them like delicate little ornaments, set aside so they won’t break. Girls need to have the chance to create and explore and skin their knees from time to time, too.”

And while this time may feel like they’re growing apart, Michelle knows that her girls are on the right track: “They are their own people,” she says of her daughters, “and that’s what I love about them.”